I’ve been using Navio2 on a drone with Ardupilot and without it.
In flights without Ardupilot, I designed a nonlinear low-level control and it performs pretty good. I used the C++ examples to access the hardware.
I notice when fly with Ardupilot, the accelerometer readings are completely filtered (using ROS to acquire them), but without Ardupilot are completely noisy due to the motors (from the C++ 9DOF IMU example).
Is there a way to get the accelerometer readings filtered from the 9DOF IMU or AHRS examples or something?
I upload some graphics of the readings filtered and not filtered to compare and to notice that the not filtered are completely useless.